JP6652084B2 - Goods transport equipment - Google Patents

Description

  The present invention relates to an article transport facility that includes an article transport vehicle that travels along a travel route and a management device that manages the article transport vehicle.

  A conventional example of such an article transport facility is described in Japanese Patent Application Laid-Open No. 2010-262594 (Patent Document 1). In the article transport facility of Patent Literature 1, the traveling path merges with the first path (the first merging path 27 and the post-merging path 29) and the first path at a connection position (the merging section 23) of the first path. A second path (second merging path 28). The antenna unit 30 is provided along the first route. The management device (management means 24) can detect that the article transport vehicle exists on the first route by detecting the article transport vehicle by the antenna unit 30.

JP 2010-262594 A

  In the above-described conventional article transport facility, the antenna unit 30 is installed in a series along the first route. Then, as the first path becomes longer and the installation distance of the antenna unit 30 increases, the possibility that a malfunction occurs in the antenna unit 30 increases. Also, as described above, when the antenna units 30 are installed in series, when a plurality of article transport vehicles enter the management area, it is difficult to determine which of the plurality of article transport vehicles is the leading article transport vehicle. It was necessary to take measures to determine which of the article transport vehicles that entered the area was the leading article transport vehicle.

  Therefore, it is desired to realize an article transport facility that is unlikely to cause a problem regardless of the length of the management area and that can easily handle a plurality of article transport vehicles.

In view of the above, the characteristic configuration of the article transport facility includes an article transport vehicle that travels along a travel route, and a management device that manages the article transport vehicle,
The traveling route has a first route and a second route that branches or merges with the first route at a connection position of the first route, and the traveling route is confirmed as a management area. An area is set, and the management area has a range of a first set distance upstream from the connection position and a range of a second set distance downstream from the connection position, and the connection position in the first route. With the position of the third set distance on the upstream side as the set position, the confirmation area has a range of the fourth set distance on the upstream side from the set position, and the article carrier is A transport vehicle detection unit that detects that another article transport vehicle is present on the downstream side of the travel route, a communication unit for communicating information between the management device, and a control unit, The control unit includes the object provided with the control unit. In a state in which the own vehicle that is a carrier is located in the confirmation area, a head state in which another article carrier located in the confirmation area does not exist ahead of the subject vehicle based on the detection information of the carrier detection unit. It is determined whether the state is the head state, and if the head state, permission request information for permission to pass through the management area is transmitted from the communication unit to the management device. It does not transmit request information.

According to these characteristic configurations, the management device can grasp that the article transport vehicle exists on the first route based on the permission request information transmitted from the article transport vehicle. Therefore, there is no need to install a detected object for detecting the article transport vehicle along the first route, so that it is possible to eliminate a problem with the detected object.
When the article transport vehicle enters the confirmation area and the article transport vehicle is the first in the confirmation area, the article transport vehicle transmits permission request information. However, when the article transport vehicle enters the confirmation area and the article transport vehicle is not at the head in the confirmation area, the article transport vehicle does not transmit the permission request information. In short, even if a plurality of article transport vehicles exist in the confirmation area, only the first one transmits the permission request information. Therefore, since the article transport vehicle that has transmitted the permission request information to the management apparatus is the leading article transport vehicle, the management apparatus can easily determine the leading article transport vehicle.

Plan view of goods transport equipment Side view of an article carrier Front view of goods transport vehicle Plan view showing first route, second route, and third route Plan view showing management area and confirmation area Control block diagram The figure which shows the state in which an article conveyance vehicle is located in a 1st preparation position. Diagram showing the state in which the article carrier has entered the confirmation area The figure which shows the state in which an article conveyance vehicle is located in a 1st stop position. The figure which shows the state in which an article conveyance vehicle is located in a 2nd passage position The figure which shows the state which an article conveyance vehicle performs a stop control. The figure which shows the state which the goods conveyance vehicle stopped at the 1st stop position by stop control. The figure which shows the state which the goods conveyance vehicle stopped at the 1st stop position by stop control. The figure which shows the state which the goods conveyance vehicle ran to the 2nd stop position by passage control. Diagram showing the state stopped by emergency stop control Diagram showing a state in which a plurality of article transport vehicles are stopped Diagram showing a state where a failed car has occurred on the second main route Diagram showing a state in which a failed car has been removed from the second main route Diagram showing a state in which a failed car has been removed from the second main route A diagram showing a first route and a second route of another embodiment. A diagram showing a first route and a second route of another embodiment.

1. Embodiment An embodiment of an article conveying device will be described with reference to the drawings.
As shown in FIGS. 1 to 3, the article transport equipment includes a travel rail 2 installed along a travel path 1 and an article transport vehicle 3 traveling on the travel rail 2 along the travel path 1. ing. The traveling rail 2 includes a pair of left and right rail portions 2A. In this embodiment, the article transport vehicle 3 transports a FOUP (Front Opening Unified Pod) containing a semiconductor substrate as an article W.

As shown in FIG. 1, the traveling route 1 includes two main routes 4 and a plurality of sub routes 5 passing through a plurality of article processing units P. Each of the two main paths 4 and the plurality of sub paths 5 is formed in an annular shape.
The two main paths 4 are provided in a double annular state. These two annular main paths 4 are paths along which the article transport vehicle 3 travels in the same direction (counterclockwise). In FIG. 1, the traveling direction of the article transport vehicle 3 is indicated by an arrow.

The two main routes 4 will be described with the inner main route 4 as the first main route 4A and the outer main route 4 as the second main route 4B.
The first main route 4A is set to pass through a plurality of storage units R. The first main path 4A is used as an article transfer path for stopping the article transport vehicle 3 to transfer the articles W to and from the storage unit R, and the second main path 4B is used as the article transport vehicle 3 It is used as a path for continuous running that runs continuously.

The traveling route 1 includes a short-circuit route 6, a branch route 7, a merging route 8, and a connecting route 9.
The short-circuit path 6 is connected to each of a pair of portions of the first main path 4A that extend parallel to each other and linearly. The short-circuit path 6 is a path for moving the article transport vehicle 3 from one of the pair of linearly extending portions of the first main path 4A to the other or from the other.
The branch route 7 is connected to the second main route 4 </ b> B and the sub route 5, and is a route for running the article transport vehicle 3 from the second main route 4 </ b> B to the sub route 5. The merging route 8 is connected to the sub route 5 and the second main route 4B, and is a route for moving the article transport vehicle 3 from the sub route 5 to the second main route 4B.
The transfer route 9 is connected to the first main route 4A and the second main route 4B, and transports the article from the first main route 4A to the second main route 4B or from the second main route 4B to the first main route 4A. This is a route for driving the car 3.

Next, the article transport vehicle 3 will be described. Note that a direction along the traveling route 1 is referred to as a route longitudinal direction X, and a direction orthogonal to the route longitudinal direction X when viewed in the vertical direction Z is referred to as a route width direction Y. In the traveling route 1, the traveling direction of the article transport vehicle 3 (the direction in which the article transport vehicle 3 travels) is referred to as the downstream side, and the opposite side is referred to as the upstream side.
Incidentally, for example, when the article transport vehicle 3 is traveling on a linear portion of the travel path 1, the front-rear direction of the article transport vehicle 3 and the path longitudinal direction X of the travel path 1 are the same direction, and the article transport vehicle 3 3 and the width direction Y of the traveling route 1 are the same direction. The route width direction Y corresponds to a width direction crossing the traveling route 1.

  As shown in FIGS. 2 and 3, the article transport vehicle 3 is located below the travel rail 2, traveling along the travel rail 2 on the travel rail 2 suspended and supported from the ceiling. And a main body 12 suspended and supported by the traveling unit 11. The main body 12 is provided with a support mechanism 13 that is provided on the main body 12 so as to be able to move up and down and supports the article W in a suspended state.

As the traveling unit 11, a first traveling unit 11F and a second traveling unit 11R arranged in the front-rear direction of the article transport vehicle 3 are provided.
The first traveling unit 11F is equipped with a pair of left and right traveling wheels 17 that are driven to rotate by an electric first motor 16. The pair of left and right traveling wheels 17 are mounted on the first traveling unit 11F so as to roll on the upper surfaces of the traveling rails 2 (the pair of left and right rail portions 2A).
The first traveling portion 11F is provided with a pair of left and right guide wheels 18 rotatable around a vertical axis (vertical axis center) along the vehicle body vertical direction. The pair of left and right guide wheels 18 are mounted on the first traveling portion 11F so as to be positioned between the pair of left and right rail portions 2A and to roll on opposing side surfaces of the pair of left and right rail portions 2A. Note that two pairs of left and right guide wheels 18 are provided in the first traveling portion 11F in a state of being arranged in the front-rear direction.
Similarly to the first traveling unit 11F, the second traveling unit 11R is equipped with a pair of left and right traveling wheels 17 and two pairs of left and right guide wheels 18.

The first traveling portion 11F and the second traveling portion 11R are provided with connecting shafts 19 protruding downward from the lower ends of the traveling wheels 17.
The connection shaft 19 of the first traveling portion 11F and the main body 12 are connected to each other so as to be relatively rotatable around a vertical axis along the vertical direction Z. The connection shaft 19 of the second traveling portion 11R and the main body portion 12 are connected to each other so as to be relatively rotatable around a vertical axis along the vertical direction Z.

The article transport vehicle 3 is configured such that the guide wheels 18 of the first traveling unit 11F and the second traveling unit 11R are guided by the pair of traveling rails 2 so that the position in the route width direction Y is regulated. The traveling wheels 17 of the 11F and the second traveling portion 11R are driven to rotate by the first motor 16 to travel along the traveling route 1.
In addition, the article transport vehicle 3 is configured such that the first traveling unit 11F and the second traveling unit 11R swing about the vertical axis with respect to the main body 12, so that the traveling route 1 is arc-shaped. You can run along.

As shown in FIG. 2, a pair of front and rear guide auxiliary wheels 21 rotating around an axis along the vehicle body vertical width direction and a pair of front and rear guide auxiliary wheels 21 are integrally formed in the first traveling portion 11F in the left and right direction. And a second motor 22 to be moved. The pair of front and rear guide assist wheels 21 and the second motor 22 are mounted on the first traveling unit 11F so as to be located above the traveling wheel 17.
Similarly to the first traveling unit 11F, the second traveling unit 11R includes a pair of front and rear guide assist wheels 21 and a second motor 22.

As shown in FIG. 5, a guide rail 23 that guides the guide auxiliary wheel 21 is provided in a connection area where the two routes in the travel route 1 are connected. As shown in FIG. 3, the guide rail 23 includes a pair of left and right traveling rails 2 as viewed in the up-down direction Z, above the traveling rail 2 and above the traveling wheels 17 rolling on the traveling rail 2. It is installed so that it is located in the central part of.
Then, as shown in FIGS. 2 and 3, the first traveling unit 11 </ b> F moves the pair of front and rear guide assist wheels 21 to the right guide position and the left guide position by driving the second motor 22. The right guide position is a position where the pair of front and rear guide assist wheels 21 is located on the right side of the left-right center of the first traveling portion 11F and abuts on the guide rail 23 from the right side. The left guide position is a position where the pair of front and rear guide assist wheels 21 is located on the left side of the left-right center of the first traveling portion 11F and abuts on the guide rail 23 from the left side.
Similarly to the first traveling unit 11F, the second traveling unit 11R drives the second motor 22 to move the pair of front and rear guide assist wheels 21 to the right guidance position and the left guidance position.

  The pair of front and rear guide auxiliary wheels 21 provided in the first traveling unit 11F and the pair of front and rear guide auxiliary wheels 21 provided in the second traveling unit 11R move to the same guide position in a synchronized state. The movement of the pair of left and right guide assist wheels 21 to the right from the right guide position and the movement to the left from the left guide position are regulated by a regulation unit not shown. Therefore, for example, even when the pair of front and rear guide assist wheels 21 is pushed rightward by the guide rail 23 in a state where the guide assist wheels 21 are located at the right guide position, the front and rear guide assist wheels 21 are moved to the right guide position by the regulation of the regulation unit. Will be maintained. However, when the pair of front and rear guide auxiliary wheels 21 are pushed to the left by the guide rail 23 in a state where they are located at the right guide position, the pair of left and right guide auxiliary wheels 21 move toward the left guide position.

  As shown in FIGS. 4 and 5, the traveling route 1 has a first route 1A, a second route 1B, and a third route 1C. The second route 1B branches from the first route 1A at a branch position P1 (connection position). The third route 1C merges with the second route 1B at a merging position P2 of the second route 1B. In addition, a branch position P1 is set in the middle of the first route 1A, and the upstream end of the second route 1B is connected to the branch position P1. A junction P2 is set in the middle of the second path 1B, and the downstream end of the third path 1C is connected to the junction P2.

For the traveling route 1, a management area E1 and a confirmation area E2 are set.
The management area E1 has a range of a first area distance D1 (first set distance) upstream from the branch position P1 on the first route 1A and a second area distance D2 (downstream) from the branch position P1 on the first route 1A. A second set distance), a range obtained by adding the fourth area distance D4 to the fifth area distance D5 downstream from the branch position P1 on the second path 1B (eighth set distance), and a third path 1C. And a range of the third area distance D3 on the upstream side from the merging position P2. The eighth set distance (fifth area distance D5 + fourth area distance D4) is longer than the distance (fifth area distance D5) from the branch position P1 to the merging position P2 on the second route 1B.

A first stop position P3 (set position, stop position) is set at a position of a first separation distance D8 (third set distance, fifth set distance) upstream from the branch position P1 with respect to the first route 1A. I have. Further, a second stop position P4 is set at a position at a second separation distance D9 upstream of the merging position P2 with respect to the third route 1C.
A first passage position P5 is set at a position of a third separation distance D10 (sixth set distance) downstream from the branch position P1 with respect to the first route 1A. Further, with respect to the second route 1B, the second passage position P6 is set at a position (seventh set distance) obtained by adding the fourth separation distance D11 to the fifth area distance D5 downstream from the branch position P1. I have.
Further, the sixth set distance (third separation distance D10) is set to be longer than the second set distance (second area distance D2). The seventh set distance (fifth area distance D5 + fourth separation distance D11) is set to be longer than the eighth set distance (fifth area distance D5 + fourth area distance D4).

As described above, the position of the first separation distance D8 (third set distance) on the upstream side from the branch position P1 on the first route 1A is the first stop position P3 (set position), and the merging on the third route 1C. A position at the second separation distance D9 upstream from the position P2 is a second stop position P4.
The confirmation area E2 has a range of a sixth area distance D6 (fourth set distance) upstream from the first stop position P3 and a range of a seventh area distance D7 upstream from the second stop position P4. ing. The third set distance (first separation distance D8) is set to the same distance as the fifth set distance (first separation distance D8). Therefore, the fifth set distance (first distance D8) is shorter than the distance obtained by adding the fourth set distance (sixth area distance D6) to the third set distance (first distance D8).

  Note that the article transport vehicle 3 located at the first stop position P3 is located at the downstream end in the confirmation area E2 of the first route 1A. The article transport vehicle 3 located at the second stop position P4 is located at the downstream end in the confirmation area E2 of the third route 1C. The article transport vehicle 3 located at the first passage position P5 is located downstream of the management area E1 of the first route 1A. The article transport vehicle 3 located at the second passage position P6 is located downstream of the management area E1 of the second route 1B.

  As shown in FIG. 4, in the first main route 4A, the second main route 4B, and the connecting route 9 (the connecting route 9 for moving the article transport vehicle 3 from the first main route 4A to the second main route 4B), The first main route 4A becomes the first route 1A, the second route 1B is downstream from the junction P2 of the transit route 9 and the second main route 4B, and the third route is upstream from the junction P2 of the second main route 4B. 1C.

Next, based on the first main route 4A, the second main route 4B, and the connecting route 9, the management area E1, the confirmation area E2, the stop position, and the passing position will be described.
With respect to the first main route 4A, a first stop position P3 is set at a position of a first separation distance D8 upstream from the branch position P1. Further, a second stop position P4 is set at a position of a second separation distance D9 upstream from the junction position P2 with respect to the second main route 4B.
A first passage position P5 is set at a position of the second area distance D2 downstream from the branch position P1 with respect to the first main route 4A. Further, a second passage position P6 is set at a position of a fourth area distance D4 downstream from the junction position P2 with respect to the second main route 4B.

The management area E1 has a range of the first area distance D1 upstream from the branch position P1 on the first main route 4A and a second area distance D2 (second region) downstream from the branch position P1 on the first main route 4A. (Set distance), a range of the third area distance D3 upstream from the merging position P2 on the second main route 4B, and a range of the fourth area distance D4 downstream from the merging position P2 on the second main route 4B. , The entire range of the transit route 9.
The confirmation area E2 has a range of the sixth area distance D6 upstream from the first stop position P3 on the first main route 4A and a seventh area distance upstream from the second stop position P4 on the second main route 4B. D7.

As shown in FIGS. 2 and 6, the article transport vehicle 3 includes a first detection unit 26, a second detection unit 27, a third detection unit 28, a distance detection unit 29, a communication unit 30, and a control unit 31. ing.
The first detection unit 26 detects the article transport vehicle 3 located in front of the article transport vehicle 3 and detects the detected distance to the article transport vehicle 3. The first detection unit 26 corresponds to a transport vehicle detection unit that detects the presence of another article transport vehicle 3 on the downstream side of the traveling route 1 with respect to the article transport vehicle 3. The second detection unit 27 detects an obstacle located in front of the article transport vehicle 3 and detects a distance to the detected obstacle.
The third detection unit 28 is configured by a two-dimensional code reader, and has a function of reading a two-dimensional code such as a bar code displayed on the detection target T and a function of detecting the presence or absence of the detection target T. ing. The third detection unit 28 corresponds to a passage detection unit that detects being located at the first passage position and the second passage position.
The distance detector 29 is configured by a rotary encoder that detects the amount of rotation of the traveling wheel 17, and is configured to be able to detect the traveling distance of the article transport vehicle 3. The distance detection unit 29 and the third detection unit 28 constitute an entry detection unit that detects that the vehicle 3A has entered the confirmation area.
The control unit 31 controls the article transport vehicle 3 based on the detection information of the various detection units and the information received by the communication unit 30. The control unit 31 has a function as a measuring unit 32 that measures the elapsed time. Thus, by providing the control unit 31 with the function of the measuring unit 32, the article transporting vehicle 3 is provided with the measuring unit 32.

The communication unit 30 is for communicating (transmitting and receiving) information with the management device H and the communication device 33.
In addition, the article transport facility includes a management device H for managing the article transport vehicle 3 and a plurality of access points AP. In the present embodiment, the management device H is installed on the floor, and the plurality of access points AP are installed on the ceiling. As described above, the management device H and the plurality of access points AP are installed in a state where their positions are fixed with respect to the traveling route 1. The communication unit 30 is configured to be able to wirelessly communicate information with the access point AP, and the communication unit 30 communicates information with the management device H via the access point AP.
Further, the article transport facility includes a communication device 33 that can be operated by an operator. The communication device 33 is configured to be able to transmit stop information and stop release information to the communication unit 30 of the article transport vehicle 3. The communication unit 30 transmits the stop information and the stop release transmitted from the communication device 33. And information can be received.

A plurality of detected objects T are provided along the traveling route 1. In the detection target T, address information indicating a position where the detection target T is installed is shown. The detection target T is installed at each of the first stop position P3, the second stop position P4, the first passage position P5, and the second passage position P6. The detected object T is located at a first preparation position P7 set upstream of the management area E1 on the first main route 4A and a second preparation position set upstream of the management area E1 on the second main route 4B. It is also installed for P8.
The detected object T installed at the first stop position P3 is the first detected object T1, the detected object T installed at the second stop position P4 is the second detected object T2, and the first passage position. The detected object T set for P5 is set to the third detected object T3, the detected object T set for the second passage position P6 is set to the fourth detected object T4, and the first preparation position P7 is set. The installed object T is referred to as a fifth object T5, and the object T installed with respect to the second preparation position P8 is referred to as a sixth object T6.
The control unit 31 includes the address information indicated by the detected object T detected by the third detecting unit 28 and the distance indicating the traveling distance after detecting the detected object T detected by the distance detecting unit 29. Based on the information, the position of the article transport vehicle 3 on the traveling route 1 is detected.

  Next, as shown in FIG. 5, the control of the control unit 31 of the article transport vehicle 3 and the control of the management device H are performed by the article transport vehicle 3 through the first main route 4A, the second main route 4B, and the transit route 9. The case of traveling will be described as an example. In addition, regarding the article transport vehicle 3, the article transport vehicle 3 provided with the control unit 31 described above is referred to as its own vehicle 3A, and the article transport vehicle 3 stopped on the traveling route due to the failure is referred to as the own vehicle 3A. In some cases, the vehicle will be referred to as a failed car 3B.

The control unit 31 executes the switching control and the approach stop control.
As shown in FIG. 7, the switching control is performed when the article transport vehicle 3 travels to the first preparation position P7 set on the upstream side of the branch position P1 on the first main route 4A. The operation of the second motor 22 is controlled so that the guide auxiliary wheel 21 is moved to a position corresponding to the traveling route.
In addition, when the article transport vehicle 3 travels on the first main route 4A and the fifth detection object T5 is detected by the third detection unit 28, the control unit 31 executes the switching control. Then, when traveling on the first main route 4A as shown in FIG. 7, the control unit 31 travels straight on the first main route 4A as it is (the first stop position P3 and the first passage position P5). In the case where the vehicle passes through the first stop position P3 and the second passage position P6, the guide auxiliary wheel 21 is positioned on the left side by the switching control, and the vehicle branches off from the first main route 4A to the transfer route 9. ) Moves the guide assist wheel 21 to the right side by the switching control.

The approach stop control stops the own vehicle 3A at a position upstream of the another article transport vehicle 3 when the other article transport vehicle 3 is stopped in front of the own vehicle 3A.
In addition, for example, as shown in FIG. 15, when the own vehicle 3A is traveling on the first main route 4A, another article transport vehicle 3 is located at the first stop position P3 in front of the own vehicle 3A. Is stopped, the first detection unit 26 of the own vehicle 3A detects another article transport vehicle 3, and the distance from the own vehicle 3A to another article transport vehicle 3 becomes less than or equal to a preset approach distance. Then, the control unit 31 controls the first motor 16 based on the detection of the first detection unit 26 to stop the own vehicle 3A at a position away from the article transport vehicle 3 by a set distance on the upstream side. Control.

In the approach stop control, when an obstacle such as the stop plate 34 is located in front of the own vehicle 3A, the own vehicle 3A is stopped at a position upstream of the obstacle.
In addition, as shown in FIG. 18, when the stop plate 34 is installed in front of the article transport vehicle 3, the second detection unit 27 of the own vehicle 3 </ b> A detects the stop plate 34, and the own vehicle 3 </ b> A When the distance from the stop plate 34 to the stop plate 34 becomes equal to or less than a preset approach distance, the control unit 31 determines the position away from the stop plate 34 by the set distance to the upstream side based on the detection of the second detection unit 27. The first motor 16 is controlled so as to stop the own vehicle 3A. If the stop plate 34 is installed at a distance less than the approach distance to the stopped own vehicle 3A, the own vehicle 3A does not move forward from the position by the approach stop control even when the permission information is received.

Further, the control unit 31 executes transmission control, passage control, and stop control.
After the vehicle 3A travels on the first main route 4A and enters the confirmation area E2, the control unit 31 executes transmission control if transmission conditions are satisfied, and transmits permission request information to the management device H. The transmission condition is that there is no other article transport vehicle 3 located in the confirmation area E2 ahead of the own vehicle 3A.
The management device H transmits the permission information to the article transport vehicle 3 that is located in the confirmation area E2 and has transmitted the permission request information according to the state of the article transport vehicle 3 in the management area E1. More specifically, when there is no article transporting vehicle 3 traveling in the management area E1 based on the permission information, the management device H permits the article transporting vehicle 3 that is located in the confirmation area E2 and has transmitted the permission request information. Submit information.

When the permission information is received before the own vehicle 3A travels to the first stop position P3, the control unit 31 executes the passage control for traveling the own vehicle 3A so as to pass the confirmation area E2 and the management area E1. .
If the control unit 31 does not receive the permission information before the vehicle 3A travels to the first stop position P3, the control unit 31 executes stop control for stopping the vehicle 3A at the first stop position P3. And control part 31 performs passage control, when receiving permission information in the state stopped at the 1st stop position P3. The control unit 31 transmits passage completion information to the management device H as the vehicle passes through the management area E1 by executing the passage control.
After transmitting the passage permission and before receiving the passage completion information, the management device H determines that the article carrier 3 traveling based on the passage permission is present in the management area E1.

Next, each of the transmission control, the passage control, and the stop control will be described.
The transmission control transmits the permission request information from the communication unit 30 to the management device H on condition that the entry detection unit detects that the own vehicle 3A has entered the confirmation area E2 as shown in FIG. Send to.
In addition, the article transport vehicle 3 enters the confirmation area E2 when it travels the set distance after the fifth detection target T5 is detected by the third detection unit 28. In other words, the detection of the fifth detection object T5 by the third detection unit 28 and the detection of travel of the set distance by the distance detection unit 38 detect that the own vehicle 3A has entered the confirmation area E2. . The third detection unit 28 and the distance detection unit 29 constitute an entry detection unit that detects that the vehicle 3A has entered the confirmation area E2.
Then, after detecting that the vehicle 3A has entered the confirmation area E2, the control unit 31 detects another article transport vehicle 3 in the area of the confirmation area E2 ahead of the vehicle 3A by the first detection unit 26. If not, it is determined to be the head state, and if another article transport vehicle 3 is detected by the first detector 26 in the area of the confirmation area E2, it is determined that the head state is not reached.

As described above, the transmission control is performed based on the detection information of the first detection unit 26, based on the detection information of the first detection unit 26, in a state where the own vehicle 3A, which is the article transport vehicle 3 provided with the control unit 31, is located in the confirmation area. It is determined whether or not there is a leading state in which another article transport vehicle 3 located in the confirmation area E2 does not exist ahead. Then, in the transmission control, if it is in the head state, permission request information for requesting permission to pass through the management area E1 is transmitted from the communication unit 30 to the management device H, and if it is not in the head state, the permission request information is transmitted. do not do.
The transmission of the permission request information will be described. In the communication control, the control unit 31 transmits the permission request information to the set time interval in the state where the own vehicle 3A is located in the confirmation area E2 and in the head state (the present embodiment). In this case, the transmission is performed at intervals of 200 msec), the elapsed time after transmitting the first permission request information is measured, and the elapsed time indicating the elapsed time when the second and subsequent permission request information is transmitted is also added. Send.
In a state where the own vehicle 3A is located in the confirmation area E2, the control unit 31 travels along the first route 1A on the downstream side of the branch position P1 (connection position) or downstream of the branch position P1 (connection position). Is transmitted from the communication unit 30 to the management device H together with the permission request information as to whether the vehicle travels along the second route 1B. As the travel schedule information, information on the route to be entered (address information indicating the first stop position P3 or the second stop position P4 and address information indicating the first pass position P5 or the second pass position P6) is transmitted. .

The management device H transmits the permission information to the article transport vehicle 3 that is located in the confirmation area E2 and has transmitted the permission request information according to the state of the article transport vehicle 3 on both the first route 1A and the second route 1B. If there are a plurality of article transport vehicles 3 that are located in the confirmation area E2 and have transmitted the permission request information, the permission information is transmitted with priority given to the article transport vehicle 3 having the longest elapsed time indicated by the progress information. I do.
Specifically, as shown in FIG. 16, when the permission information is transmitted to the article transport vehicle 3, the article transport vehicle 3 that is located in the confirmation area E2 and has transmitted the permission request information is located at the first stop position P3. If there is an article transport vehicle 3 that is stopped and has an elapsed time of A time (2000 msec) and an article transport vehicle 3 that is stopped at the second stop position P4 and has an elapsed time of B time (1600 msec), The permission information is transmitted to the article transport vehicle 3 stopped at the first stop position P3 where the elapsed time is long.

As shown in FIGS. 8 to 10, the passage control is performed when the permission information is received after the own vehicle 3A traveling on the first main route 4A enters the confirmation area E2 and travels to the first stop position P3. Then, the vehicle 3A is caused to travel so as to pass through the confirmation area E2 and the management area E1. In other words, in other words, the passage control is performed when the permission information from the management device H is received while traveling toward the first stop position P3 in the confirmation area E2 after transmitting the permission request information. The self-vehicle 3A is driven so as to continue running and pass through the confirmation area E2 and the management area E1.
In addition, as shown in FIGS. 12 to 14, the passage control allows the vehicle to pass through the confirmation area E2 and the management area E1 when the permission information is received while the own vehicle 3A is stopped at the first stop position P3. The vehicle 3A travels as described above.
Then, in the passage control, when the vehicle travels to the first passage position P5 or the second passage position P6 after passing through the management area E1, the passage completion information is transmitted from the communication unit 30 to the management device H. The permission information is deleted by receiving the release information from.

As shown in FIG. 10 and FIG. 11, when the own vehicle 3A traveling on the first main route 4A does not receive permission information before traveling to the first stop position P3, as shown in FIG. The own vehicle 3A is stopped at the first stop position P3. The stop control stops the own vehicle 3A at the second stop position P4 when the own vehicle 3A traveling on the second main route 4B does not receive the permission information before traveling to the second stop position P4.
As described above, the control unit 31 checks whether the permission information is received before the own vehicle 3A travels to the stop position or the permission information is received while the own vehicle 3A is stopped at the stop position. The vehicle 3A is caused to travel so as to pass through the area E2 and the management area E1, and the vehicle 3A is stopped at the stop position if the permission information is not received before the vehicle 3A travels to the stop position.

  When the communication unit 30 receives the stop information, the control unit 31 suspends these controls during the execution of the approach stop control, the passage control, or the stop control, and forcibly stops the own vehicle 3A. When the communication unit 30 receives the stop release information, the forced stop state is released and the interrupted control is executed. In other words, the worker operates the communication device 33 to transmit the stop information, whereby the arbitrary article transport vehicle 3 can be forcibly stopped.

A case where the article transport vehicle 3 is operated by the communication device 33 will be described with reference to FIGS.
As illustrated in FIG. 17, the failed vehicle 3B, which is the failed article transport vehicle 3, is stopped downstream of the management area, and travels along the transit route 9 by executing the passage control based on the permission information. The transported article transport vehicle 3 is stopped on the transfer route 9 by the emergency stop control. The article transport vehicle 3 stopped by the stop control is stopped at the first stop position P3 and the second stop position P4. The article transport vehicle 3 stopped by the emergency stop control is stopped upstream of the first stop position P3 and the second stop position P4.

In this state, if the worker moves the malfunctioning vehicle 3B to the downstream side, the article transporting vehicle 3 stopped by the emergency stop control may resume running and come into contact with the worker.
Therefore, the operator operates the communication device 33 to stop the article transport vehicle 3 (eg, the article transport vehicle 3 stopped on the transit route 9 by the emergency stop control) positioned upstream of the failed vehicle 3B. By moving the malfunctioning vehicle 3B to the downstream side in a state in which the article transport vehicles 3 are forcibly stopped by transmitting the above, the risk that the article transport vehicles 3 come into contact with the worker as described above can be avoided.

  As shown in FIGS. 18 and 19, a stop plate 34 is attached in front of the article transport vehicle 3 (the article transport vehicle 3 stopped by the emergency stop control in the first main path 4A and the second main path 4B). Thus, even when the article transport vehicle 3 ahead moves, the article transport vehicle 3 stopped by the emergency stop control can be maintained in a stopped state. In addition, when the operator operates the communication device 33 to forcefully stop the article transport vehicle 3 that has been stopped by the emergency stop control, the article transport vehicle 3 can be maintained in a double stop state.

When an operation to stop the management device H is performed, the management device H transmits start / stop information to all the article transport vehicles 3 located on the travel route 1 and also transmits the article transport vehicles 3 in the management area E1. Discard the information that sent permission information to.
When the communication unit 30 receives the start / stop information, the control unit 31 of the article transport vehicle 3 suspends these controls during execution of the approach stop control, the passage control, or the stop control, and places the own vehicle 3A in a standby state. Switch to.

When the operation of activating the management device H is performed, the management device H transmits the activation information to all the article transport vehicles 3 located on the traveling route 1.
When the communication unit 30 receives the activation information, the control unit 31 of the article transport vehicle 3 cancels the standby state and executes the interrupted control. In addition, the control unit 31 executes the transmission control when the own vehicle 3A is located in the confirmation area E2 and the transmission condition is satisfied.
The management device H is located in the confirmation area E2 according to the state of the article transport vehicles 3 on both the first route 1A and the second route 1B, and one of the article transport vehicles 3 that has transmitted the permission request information. Only send permission information.

After starting, the management device H does not execute the merging control, that is, does not execute the transmission of the permission information to the article transporting vehicle 3 traveling on the route including the merging traveling until the preset first time elapses.
That is, when the management device H attempts to transmit the permission information to the article transport vehicle 3 that is located in the confirmation area E2 and has transmitted the permission request information, the traveling route 1 indicated by the travel schedule information transmitted by the article transport vehicle 3 Does not transmit permission information to the article transporting vehicle 3 when the traveling route 1 indicated by the traveling schedule information does not involve the merging traveling. Specifically, when the traveling schedule information of the article transport vehicle 3 is the address information indicating the first stop position P3 and the first passing position P5, the traveling route 1 indicated by the traveling schedule information does not involve merging traveling. Since the route is a route, permission information is transmitted to the article transporting vehicle 3. However, when the traveling schedule information of the article transporting vehicle 3 is address information indicating the first stop position P3 and the second passing position P6, If the address information indicates the second stop position P4 and the second passage position P6, the travel route 1 indicated by the travel schedule information is a route that involves merging, so that the article transport vehicle 3 is permitted. No information is sent.

Further, after the first time elapses after the start-up, the management device H sets the management area E1 for the article transporting vehicle 3 that joins and runs in the management area by the passage control until the second time set in advance elapses. The traveling speed at the time of traveling is lower than the normal traveling speed.
In addition, when the management device H attempts to transmit the permission information to the article transport vehicle 3 that has been located in the confirmation area E2 and has transmitted the permission request information, the traveling schedule information transmitted by the article transport vehicle 3 indicates If the traveling route 1 is a route that involves merging, the low-speed information is transmitted together with the permission information to the article carrier 3. If the traveling route 1 indicated by the traveling schedule information is a route that does not involve merging, the permission is given. Transmits information but not low-speed information.
When receiving the low-speed information together with the permission information, the control unit 31 executes the passage control so that the vehicle 3A passes through the confirmation area E2 and the management area E1 at a preset low speed. When the control unit 31 has not received the low speed information together with the permission information, the control unit 31 executes the passage control so that the vehicle 3A passes through the confirmation area E2 and the management area E1 at a normal speed higher than the low speed.

2. Other Embodiments Next, other embodiments of the article transport facility will be described.

(1) In the above embodiment, the first route 1A, the second route 1B, and the third route 1C are formed by the first main route 4A, the second main route 4B, and the connecting route 9, and the second route 1B Is branched from the first route 1A at the connection position of the first route 1A. As shown in FIG. 20, the first route 1A, the second route 1B, and the third route 1C are connected to the first main route 1A. 4A, the second main route 4B, and the connecting route 9, the second route 1B may be joined to the first route 1A at the connection position of the first route 1A. As shown in FIG. 21, the first path 1A, the second path 1B, and the third path 1C are formed by a pair of parallel and linearly extending portions of the first main path 4A and the short-circuit path 6. For example, the routes forming the first route 1A, the second route 1B, and the third route 1C may be appropriately changed.

(2) In the above embodiment, when passing through the management area E1 so as to pass the first route 1A through the first preparation position P7 and the first passage position P5, both the first route 1A and the second route 1B are used. When there is no other article transport vehicle 3 to which the passage permission is given, the permission information is transmitted to the article transport vehicle 3, but the first route 1A is moved to the first preparation position P7 and the first passage position P5. In the case of passing through the management area E1 so as to pass through, the permission information is transmitted to the article transport vehicle 3 when at least another article transport vehicle 3 to which the passage permission is granted does not exist in the first route 1A. You may make it.
Further, when passing through the management area E1 so as to pass through the first preparation position P7 and the second passage position P6, there is another article transport vehicle 3 to which at least the second route 1B is permitted to pass. If not, permission information may be transmitted to the article transport vehicle 3.

(3) In the above-described embodiment, when there are a plurality of article transport vehicles 3 that are located in the confirmation area E1 and have transmitted the permission request information, priority is given to the article transport vehicle 3 having the longest elapsed time indicated by the progress information. However, for example, permission information is transmitted by giving priority to the article transport vehicle 3 located on the same route as the route on which the article transport vehicle 3 that transmitted the previous permission information was located. The conditions for selecting the article transport vehicle giving priority to the information may be changed as appropriate.

(4) In the above-described embodiment, the management area E1 includes the first route 1A, the second route 1B, and the third route 1C, and branches and joins in one management area E1. E1 may include only the first path 1A and the second path 1B among the first path 1A, the second path 1B, and the third path 1C, and may perform only branching or merging.

(5) The configurations disclosed in the above embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

3. Outline of the above embodiment Hereinafter, an outline of the article transport facility described above will be described.

The article transport facility includes an article transport vehicle that travels along a travel route, and a management device that manages the article transport vehicle,
The traveling route has a first route and a second route that branches or merges with the first route at a connection position of the first route, and the traveling route is confirmed as a management area. An area is set, and the management area has a range of a first set distance upstream from the connection position and a range of a second set distance downstream from the connection position, and the connection position in the first route. With the position of the third set distance on the upstream side as the set position, the confirmation area has a range of the fourth set distance on the upstream side from the set position, and the article carrier is A transport vehicle detection unit that detects that another article transport vehicle is present on the downstream side of the travel route, a communication unit for communicating information between the management device, and a control unit, The control unit includes the object provided with the control unit. In a state in which the own vehicle that is a carrier is located in the confirmation area, a head state in which another article carrier located in the confirmation area does not exist ahead of the subject vehicle based on the detection information of the carrier detection unit. It is determined whether the state is the head state, and if the head state, permission request information for permission to pass through the management area is transmitted from the communication unit to the management device. Do not send request information.

According to this configuration, the management device can grasp that the article transport vehicle exists on the first route based on the permission request information transmitted from the article transport vehicle. Therefore, there is no need to install a sensor for detecting the article transport vehicle along the first route, so that it is possible to eliminate the occurrence of a malfunction in the sensor.
When the article transport vehicle enters the confirmation area and the article transport vehicle is the first in the confirmation area, the article transport vehicle transmits permission request information. However, when the article transport vehicle enters the confirmation area and the article transport vehicle is not at the head in the confirmation area, the article transport vehicle does not transmit the permission request information. In short, even if a plurality of article transport vehicles exist in the confirmation area, only the first one transmits the permission request information. Therefore, since the article transport vehicle that has transmitted the permission request information to the management apparatus is the leading article transport vehicle, the management apparatus can easily determine the leading article transport vehicle.

  Here, with respect to the first route, a stop position is set at a position of a fifth set distance upstream from the connection position, and the fifth set distance is obtained by setting the fourth set distance to the third set distance. The management device is set to a distance shorter than the added distance, and the management device performs the confirmation according to a state of the article transport vehicle on the first route or the second route or on both the first route and the second route. Transmitting permission information to the article transport vehicle that is located in the area and transmitting the permission request information, the article transport vehicle includes an entry detection unit that detects that the own vehicle has entered the confirmation area; The unit executes an approach stop control, a transmission control, a passage control, and a stop control, and the approach stop control includes, when another article carrier is stopped in front of the own vehicle, the another article. Stop the vehicle at a position upstream with respect to the The transmission control transmits the permission request information from the communication unit to the management device on condition that the entry detection unit detects that the own vehicle has entered the confirmation area and is in the leading state. The pass control controls the self-vehicle to pass through the confirmation area and the management area when the permission information is received before the self-vehicle travels to the stop position, and the stop control includes: When the vehicle does not receive the permission information until the vehicle travels to the stop position, the vehicle is preferably stopped at the stop position.

  According to this configuration, when the control unit receives the permission information before the vehicle travels to the stop position, the control unit executes the passage control to control the vehicle to pass through the confirmation area and the management area. If the control unit does not receive the permission information before the vehicle travels to the stop position, the control unit executes the passage control and controls the vehicle to stop at the stop position. If another article transport vehicle enters the vehicle at the stop position, the other article transport vehicle is not in the head state, and does not transmit permission request information. The article transport vehicle is controlled so as to stop at a position upstream of the currently stopped article transport vehicle. As described above, since the article transport vehicle that is not in the leading state does not need to transmit information to the management device, the amount of information transmitted and received between the article transport vehicle and the management device can be suppressed.

  The communication device further includes a communication device operable by an operator, the communication device is configured to be able to transmit stop information and stop release information toward the communication unit of the article transport vehicle, and the control unit includes: When the communication unit receives the stop information, during the approach stop control, the passage control or the stop control is a forced stop state in which these controls are interrupted to forcibly stop the vehicle, When the communication unit receives the stop release information, it is preferable to release the forced stop state and execute the interrupted control.

  According to this configuration, the article transport vehicle can be forcedly stopped by the operator operating the communication device. For example, when the article carrier having an abnormality in the traveling route is stopped, and when a subsequent article carrier is stopped by the approach stop control at a position upstream of the article carrier having the failure, As the worker moves forward to move the failed article carrier, the article carrier that has been stopped by the approach stop control also moves forward, so that the forwarded article carrier may come into contact with the worker. is there. Therefore, the operator operates the communication device in advance to forcibly stop the subsequent article transport vehicle, so that when the worker is working on the failed article transport vehicle, It is possible to avoid running.

  In addition, the second route is a route that branches from the connection position of the first route, and the management area is, in addition to the range set as the management area in the first route, the management route in the second route. A range of an eighth set distance downstream from the connection position is provided, and a first passage position is set at a position of a sixth set distance downstream from the connection position with respect to the first path, For the route, a second passing position is set at a position of a seventh set distance downstream from the connection position, the sixth set distance is set to a distance longer than the second set distance, and the seventh set distance is set. The distance is set to a distance longer than the eighth set distance, the article transport vehicle includes a passage detection unit that detects that it is located at the first passage position and the second passage position, the control unit, If the vehicle is in the first passage position or the When traveling to the passage position, the passage information is transmitted from the communication unit to the management device, and the management device performs the management until reception of the passage information from the article transport vehicle that has transmitted the permission information. While determining that the article transport vehicle is present in the area and determining that the article transport vehicle is present in the management area, permission information is not transmitted and the article transport vehicle is present in the management area. When it is determined that there is no permission information, it is preferable that permission information is transmitted to the article transport vehicle that is located in the confirmation area and has transmitted the permission request information.

According to this configuration, since the first passage position and the second passage position are set outside the management area, the article transport vehicle that has traveled to the first passage position and the second passage position passes through the management area. ing. Then, when traveling to the first passage position or the second passage position, the article transport vehicle transmits the passage information to the management device.
By transmitting the permission information to the article transport vehicle and receiving the passage information from the article transport vehicle, the management device determines that the article transport vehicle traveling based on the permission information exists in the management area. Can be determined. Therefore, there is no need to install a sensor for detecting the presence or absence of the article transport vehicle along the first route and the second route.

  In addition, the second route is a route that branches from the connection position of the first route, and the management area is, in addition to the range set as the management area in the first route, the management route in the second route. A stop position is set at a position of a fifth set distance upstream from the connection position with respect to the first path, the stop position being set at a position downstream of the eighth set distance from the connection position, Is set to a distance shorter than the distance obtained by adding the fourth set distance to the third set distance, and in a state where the own vehicle is located in the confirmation area, the control unit moves the downstream side of the connection position to the second position. The travel schedule information of whether to travel along one route or travel along the second route on the downstream side of the connection position is transmitted from the communication unit to the management device together with the permission request information, The management device When receiving the request information, according to the state of the article transport vehicle of both the first route and the second route, transmit permission information to the article transport vehicle that has transmitted the permission request information, The control unit, when receiving the permission information before the vehicle travels to the stop position, causes the vehicle to travel so as to pass through the confirmation area and the management area, and the vehicle travels to the stop position. It is preferable to stop the own vehicle at the stop position when the permission information has not been received before.

According to this configuration, the article carrier transmits the travel schedule information together with the permission request information from the communication unit to the management device. It is easy to grasp the running state of the article transport device.
Then, the management device transmits the permission information to the article transport vehicle according to the state of the article transport vehicle on both the first route and the second route, regardless of the content of the traveling schedule information transmitted by the article transport vehicle. . That is, for example, the management device also transmits permission information to an article carrier traveling along the first route on the downstream side of the connection position based on the state of the article carrier on the second route. Therefore, permission information is transmitted to the article transport vehicle that travels along the first route on the downstream side of the connection position, even though the defective article transport vehicle is stopped at the upstream end of the second route. Therefore, it is possible to prevent the article transport vehicle traveling along the first route from contacting the article transport vehicle stopped at the upstream end of the second route. As described above, according to the present configuration, it is possible to prevent contact between the article transport vehicles traveling on different routes in the management area.

  In addition, the article transport vehicle includes a measurement unit that measures an elapsed time, and the control unit is configured to transmit the permission request information at a set time interval in a state where the own vehicle is located in the confirmation area and in the head state. At the same time, the elapsed time from the first transmission of the permission request information is measured, and the transmission information indicating the elapsed time is transmitted together with the second and subsequent transmission of the permission request information. The management device is located in the confirmation area according to a state of the article transport vehicle on the first route, the second route, or both the first route and the second route, and is provided with the permission request information. In the case where permission information is transmitted to the article transport vehicle that has transmitted the information, and when there are a plurality of the article transport vehicles that are located in the confirmation area and have transmitted the permission request information, the elapsed time indicated by the progress information But It is preferable to send the permission information be preferentially long the article transport vehicle.

  According to this configuration, when there are a plurality of article transport vehicles that are located in the confirmation area and have transmitted the permission request information, the permission information is given priority over the article transport vehicles having a long elapsed time after transmitting the supply request information. Sent. Therefore, it is possible to prevent the article transport vehicle from staying in the preparation area for a long time after transmitting the permission request information.

  The technology according to the present disclosure can be used for an article transport facility including an article transport vehicle that travels along a travel route.

1: traveling route 1A: first route 1B: second route 3: article transport vehicle 26: first detection unit (transport vehicle detection unit)
28: Third detection unit (entrance detection unit, passage detection unit)
29: distance detection unit (entrance detection unit)
30: communication unit 31: control unit 32: measurement unit 33: communication device D1: first area distance (first set distance)
D2: Second area distance (second set distance, sixth set distance)
D6: sixth area distance (fourth set distance)
D8: First separation distance (third setting distance, fifth setting distance)
E1: management area E2: confirmation area P1: branch position (connection position)
P3: First stop position (stop position)
P5: First passage position P6: Second passage position H: Management device

Claims (6)

An article transport facility that includes an article transport vehicle that travels along a travel route and a management device that controls the article transport vehicle,
The traveling route has a first route and a second route that branches or merges with the first route at a connection position of the first route,
For the first route, a management area and a confirmation area are set,
The management area has a range of a first set distance upstream from the connection position and a range of a second set distance downstream from the connection position,
The position of the third set distance on the upstream side from the connection position in the first route as a set position, the confirmation area has a range of a fourth set distance on the upstream side from the set position,
The article transport vehicle communicates information between a transport vehicle detection unit that detects that another article transport vehicle is present downstream of the traveling route with respect to the article transport vehicle, and the management device. A communication unit and a control unit for
The control unit is configured to perform the confirmation in front of the own vehicle based on the detection information of the carrier detection unit in a state where the own vehicle as the article transport vehicle provided with the control unit is located in the confirmation area. It is determined whether or not another article transporter located in the area is in the leading state where there is no other article transporter. If the leading state is present, permission request information for requesting permission to pass through the management area is sent from the communication unit to the management device. An article transport facility that transmits to the device and does not transmit the permission request information when the device is not in the leading state. For the first route, a stop position is set at a position of a fifth set distance upstream from the connection position,
The fifth set distance is set to a shorter distance than the distance obtained by adding the fourth set distance to the third set distance,
The management device is located in the confirmation area according to the state of the article transport vehicle in the first route or the second route or both the first route and the second route and transmits the permission request information. Transmitting permission information to the transmitted article carrier,
The article transport vehicle includes an entry detection unit that detects that the vehicle has entered the confirmation area,
The control unit executes an approach stop control, a transmission control, a passage control, and a stop control,
The approach stop control, when another article transport vehicle is stopped in front of the vehicle, stops the vehicle at a position upstream with respect to the another article transport vehicle,
The transmission control transmits the permission request information from the communication unit to the management device on condition that the entry detection unit detects that the vehicle has entered the confirmation area and that the vehicle is in the leading state. And
The passing control, when the vehicle has received the permission information until the vehicle travels to the stop position, to run the vehicle so as to pass the confirmation area and the management area,
2. The article transport facility according to claim 1, wherein the stop control stops the own vehicle at the stop position when the own vehicle does not receive the permission information before traveling to the stop position. 3. Further comprising a communication device operable by an operator,
The communication device is configured to be able to transmit stop information and stop release information toward the communication unit of the article transport vehicle,
When the communication unit receives the stop information, the control unit interrupts these controls during the execution of the approach stop control, the passage control, or the stop control, and forcibly stops the own vehicle. 3. The article transport facility according to claim 2, wherein a forced stop state is set, and when the communication unit receives the stop release information, the forced stop state is released to execute the interrupted control. 4. The second route is a route branching from the connection position of the first route,
The management area, in addition to the range set as the management area in the first route, has a range of an eighth set distance downstream from the connection position in the second route,
For the first route, a first passage position is set at a position of a sixth set distance downstream from the connection position,
A second passage position is set at a position of a seventh set distance downstream from the connection position with respect to the second route,
The sixth set distance is set to a distance longer than the second set distance,
The seventh set distance is set to a distance longer than the eighth set distance,
The article transport vehicle includes a passage detection unit that detects that it is located at the first passage position and the second passage position,
The control unit, when the vehicle travels to the first passage position or the second passage position, transmits passage information from the communication unit to the management device,
The management device determines that the article transport vehicle exists in the management area until the pass information from the article transport vehicle that has transmitted the permission information is received, and determines that the article transport vehicle exists in the management area. During the determination, the permission information is not transmitted, and if it is determined that the article transport vehicle is not present in the management area, the article is located in the confirmation area and transmits the permission request information. The article transport facility according to any one of claims 1 to 3, wherein the permission information is transmitted to the article transport vehicle. The second route is a route branching from the connection position of the first route,
The management area, in addition to the range set as the management area in the first route, has a range of an eighth set distance downstream from the connection position in the second route,
For the first route, a stop position is set at a position of a fifth set distance upstream from the connection position,
The fifth set distance is set to a shorter distance than the distance obtained by adding the fourth set distance to the third set distance,
The control unit travels on the downstream side of the connection position along the first route or on the downstream side of the connection position along the second route in a state where the vehicle is located in the confirmation area. The travel schedule information is transmitted from the communication unit to the management device together with the permission request information,
The management device, when receiving the permission request information, according to the state of the article transport vehicle of both the first route and the second route, to the article transport vehicle that has transmitted the permission request information Submit your permission information,
When the control unit receives the permission information before the vehicle travels to the stop position, the control unit causes the vehicle to travel through the confirmation area and the management area, and the vehicle travels to the stop position. The article transport equipment according to any one of claims 1 to 4, wherein the own vehicle is stopped at the stop position when the permission information is not received before the start. The article transport vehicle includes a measurement unit that measures elapsed time,
The control unit transmits the permission request information at a set time interval in a state where the own vehicle is located in the confirmation area and in the head state, and a process after transmitting the first permission request information. Measure the time, and when transmitting the permission request information after the second time, also transmit the elapsed information indicating the elapsed time,
The management device is located in the confirmation area according to the state of the article transport vehicle in the first route or the second route or both the first route and the second route and transmits the permission request information. When the permission information is transmitted to the transmitted article transport vehicle, and when there are a plurality of the article transport vehicles that are located in the confirmation area and have transmitted the permission request information, the elapsed time indicated by the progress information is The article transport facility according to any one of claims 1 to 5, wherein the permission information is transmitted with priority given to the longest article transport vehicle.

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